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authorNicolas Schodet2013-03-28 23:28:13 +0100
committerNicolas Schodet2013-03-28 23:32:49 +0100
commit75cc934b072310f22c5fe349168e5e4cdc231c4c (patch)
tree4c195e983d9974458f92199e15647f01235f4856 /host
parent09c941cd2d30d07ef2dfe779bff2c934ce7cd718 (diff)
host/simu/robots/apbirthday: add cake arm simulation
Still need color sensors simulation.
Diffstat (limited to 'host')
-rw-r--r--host/simu/robots/apbirthday/model/bag.py15
-rw-r--r--host/simu/robots/apbirthday/model/cake_arm.py91
-rw-r--r--host/simu/robots/apbirthday/view/bag.py2
-rw-r--r--host/simu/robots/apbirthday/view/robot.py14
4 files changed, 120 insertions, 2 deletions
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index bef099f9..5488305e 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -26,6 +26,8 @@ from simu.model.switch import Switch
from simu.model.position import Position
from simu.model.round_obstacle import RoundObstacle
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.model.pneumatic_cylinder import PneumaticCylinder
+from simu.robots.apbirthday.model.cake_arm import CakeArm
from math import pi
import random
@@ -49,4 +51,17 @@ class Bag:
DistanceSensorSensopart (link_bag.adc_dist[3], scheduler, table,
(-50, -120), pi, (self.position, ), 4),
]
+ self.cake_arm = CakeArm (table, self.position,
+ PneumaticCylinder (
+ link_bag.cake_arm_in,
+ link_bag.cake_arm_out,
+ scheduler, 0., 1., 1., 1., 1.),
+ PneumaticCylinder (
+ link_bag.cake_push_far_in,
+ link_bag.cake_push_far_out,
+ scheduler, 0., 1., 10., 10., 0.),
+ PneumaticCylinder (
+ link_bag.cake_push_near_in,
+ link_bag.cake_push_near_out,
+ scheduler, 0., 1., 10., 10., 0.))
diff --git a/host/simu/robots/apbirthday/model/cake_arm.py b/host/simu/robots/apbirthday/model/cake_arm.py
new file mode 100644
index 00000000..0d91b7af
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/cake_arm.py
@@ -0,0 +1,91 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday cake arm model."""
+from utils.observable import Observable
+from simu.utils.trans_matrix import TransMatrix
+
+class CakeArm (Observable):
+
+ far_x = 51
+ far_y = 350
+ near_x = 2
+ near_y = 247
+
+ def __init__ (self, table, robot_position, arm_cyl, far_cyl, near_cyl):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.arm_cyl = arm_cyl
+ self.far_cyl = far_cyl
+ self.near_cyl = near_cyl
+ self.far_pushed = False
+ self.near_pushed = False
+ self.arm_cyl.register (self.notify)
+ self.far_cyl.register (self.__push_notified)
+ self.near_cyl.register (self.__push_notified)
+ self.robot_position.register (self.__robot_position_notified)
+
+ def __push_notified (self):
+ if self.arm_cyl.pos > .9:
+ if not self.far_pushed and self.far_cyl.pos > .5:
+ self.far_pushed = True
+ self.__push (self.far_x, self.far_y, 3)
+ elif self.far_pushed and self.far_cyl.pos < .9:
+ self.far_pushed = False
+ if not self.near_pushed and self.near_cyl.pos > .5:
+ self.near_pushed = True
+ self.__push (self.near_x, self.near_y, 2)
+ elif self.near_pushed and self.near_cyl.pos < .9:
+ self.near_pushed = False
+ self.notify ()
+
+ def __push (self, x, y, level):
+ """Push a candle under coordinates x, y."""
+ margin = 60
+ # Matrix to transform an obstacle position into robot coordinates.
+ m = self.__get_robot_matrix ()
+ # Look up elements.
+ for o in self.table.obstacles:
+ if (o.level == level and hasattr (o, 'state') and o.state == False
+ and o.pos is not None):
+ pos = m.apply (o.pos)
+ if (pos[0] > x - margin
+ and pos[0] < x + margin
+ and pos[1] > y - margin
+ and pos[1] < y + margin):
+ o.state = True
+ o.notify ()
+
+ def __robot_position_notified (self):
+ # TODO: update color sensors.
+ pass
+
+ def __get_robot_matrix (self):
+ """Return robot transformation matrix."""
+ m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
+ m.translate ((-self.robot_position.pos[0],
+ -self.robot_position.pos[1]))
+ return m
+
diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py
index dfea21fa..7956e5f2 100644
--- a/host/simu/robots/apbirthday/view/bag.py
+++ b/host/simu/robots/apbirthday/view/bag.py
@@ -32,7 +32,7 @@ class Bag:
self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
self.color_switch = Switch (sensor_frame, model_bag.color_switch,
'Color')
- self.robot = Robot (table, model_bag.position)
+ self.robot = Robot (table, model_bag.position, model_bag.cake_arm)
self.distance_sensor = [DistanceSensorUS (self.robot, ds)
for ds in model_bag.distance_sensor]
diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py
index 398d34c8..cb489fb0 100644
--- a/host/simu/robots/apbirthday/view/robot.py
+++ b/host/simu/robots/apbirthday/view/robot.py
@@ -29,11 +29,13 @@ COLOR_AXES = '#202040'
class Robot (simu.inter.drawable.Drawable):
- def __init__ (self, onto, position_model):
+ def __init__ (self, onto, position_model, cake_arm_model):
"""Construct and make connections."""
simu.inter.drawable.Drawable.__init__ (self, onto)
self.position_model = position_model
self.position_model.register (self.__position_notified)
+ self.cake_arm_model = cake_arm_model
+ self.cake_arm_model.register (self.update)
def __position_notified (self):
"""Called on position modifications."""
@@ -59,6 +61,16 @@ class Robot (simu.inter.drawable.Drawable):
self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
+ # Draw arm.
+ m = self.cake_arm_model
+ f = m.arm_cyl.pos
+ for x, y, pos in ((m.far_x, m.far_y, m.far_cyl.pos),
+ (m.near_x, m.near_y, m.near_cyl.pos)):
+ e = (y - 140) * f + 140
+ gray = pos * 0x40
+ fill = '#%02x%02x%02x' % (gray, gray, gray)
+ self.draw_polygon ((x - 20, 140), (x - 20, e), (x + 20, e),
+ (x + 20, 140), fill = fill)
# Extends.
simu.inter.drawable.Drawable.draw (self)